Current limitations.
Despite its effectiveness, we can see two main limitations in our framework. First, it adapts to the specific RGB + LiDAR setup used for training. Nonetheless, this appears to be a minor limitation since the training procedure is fast and completely unsupervised. The second concerns the need to choose a confidence threshold for outliers removal, which is however a concern shared with most approaches in this field [1]}, [2]}, [3]}, [4]}, [5]}.
